Method for turning a robot in an array of vertical and horizontal rack-based tracks

A method for turning a pinion-driven robot in an intersection of rails, wherein the pinion-driven lift-robot moves through an array of a plurality of intersecting vertical and horizontal rack-based tracks in which rack segments extend along vertical and horizontal rails and are interrupted and absent in intersection regions thereof, the rack segments are disposed in the rails along one end of the horizontal rails and on one end of the vertical rails, wherein said turning is performed in an absence of racks in a first corner of the intersection about which the turn is intended, the method comprises:

• moving the pinion-driven robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection;
• turning the pinion-driven robot over a second corner of the intersection that is accessible from the first position, wherein the second corner comprises continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection;
• and
• moving the pinion-driven lift-robot in a second motion mode towards a designated direction.